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Title: Strong dielectric-elastomer grippers with tension arch flexures
Authors: Heng, Kim-Rui
Ahmed, Anansa S.
Shrestha, Milan
Lau, Gih-Keong
Keywords: Engineering::Mechanical engineering
Dielectric Elastomer Actuator
Flight Muscles
Issue Date: 2017
Source: Heng, K.-R., Ahmed, A. S., Shrestha, M., & Lau, G.-K. (2017). Strong dielectric-elastomer grippers with tension arch flexures. Proceedings of SPIE - Electroactive Polymer Actuators and Devices, 10163, 101631Z-. doi:10.1117/12.2259926
Series/Report no.: Proceedings of SPIE - Electroactive Polymer Actuators and Devices
Conference: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring
Abstract: Soft grippers based on dielectric elastomer actuator (DEA) are usually too flimsy to perform the task of pick and place on a heavier object given their low payload capacity. This work developed a new design of DEA unimorph consists of a flexible frame holding at a DEA on the discrete support by a stiffer spine-like flexure of 380μm thick Polyvinyl chloride (PVC) sheet. It finds an equilibrium of curling up when the DEA's pre-stretch is partially released; it can electrically unfolds upon a voltage application. This dielectric elastomer unimorph of 3 grams produced a maximum voltage induced bending of close to 90° and a maximum voltage-induced blocked force of up to 168mN. Given their higher stiffness and large actuation, these 3-D shaped and strengthened DEA unimorphs can make stronger grippers for passive grasping and active pinching.
ISSN: 0277-786X
DOI: 10.1117/12.2259926
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2017 SPIE. All rights reserved. This paper was published in Proceedings of SPIE - Electroactive Polymer Actuators and Devices and is made available with permission of SPIE.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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